Product details

Dex5-1

Dex5-1 灵巧手

Dexterous Hand

Unitree Robotics

Dex5-1

About this product

Dex5-1 is Unitree's five-finger dexterous hand with 20 total degrees of freedom, including 16 active axes and four coupled finger joints. Backdrivable joints, independently replaceable fingers and lateral finger movement support manipulation and reinforcement-learning development. The official table lists a 1.1 kg mass and USB 2.0 communication, with feedback on joint motion, torque, temperature and electrical state. The base Dex5-1 does not include the pressure-sensor array listed for Dex5-1P. Manufacturer performance figures depend on the stated grasp conditions and hardware configuration.

Model
Dex5-1
Category
Dexterous Hand

Specifications & evidence

Source-backed claims. Configuration, workload and evidence type matter when comparing products.

Communication frequency

1,000 Hz

Reported claim

Parameter label: Communication rate

Unitree Dex5-1 Smart Adaptability, Instant Responsiveness - Unitree Robotics
Communication rate 1000Hz 1000Hz

Communication interface

USB2.0

Reported claim

Parameter label: Communication Interface

Unitree Dex5-1 Smart Adaptability, Instant Responsiveness - Unitree Robotics
Communication Interface USB2.0 USB2.0

Communication packet size

Sender:1234 bytes Receiver:1270 bytes

Reported claim

Parameter label: The number of bytes in a full packet

Unitree Dex5-1 Smart Adaptability, Instant Responsiveness - Unitree Robotics
The number of bytes in a full packet Sender:1234 bytes Receiver:1270 bytes Sender:1234 bytes Receiver:1270 bytes

Control modes

Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Stiffness Coefficient, Joint Damping Coefficient

Reported claim

Parameter label: Control feedback

Unitree Dex5-1 Smart Adaptability, Instant Responsiveness - Unitree Robotics
Control feedback Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Stiffness Coefficient, Joint Damping Coefficient Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Stiffness Coefficient, Joint Damping Coefficient

Degrees of freedom

Thumb x 4 Index Finger x 3 Middle Finger x 3 Ring Finger x 3 Little Finger x 3

Reported claim

Parameter label: Degrees of Freedom

Unitree Dex5-1 Smart Adaptability, Instant Responsiveness - Unitree Robotics
Degrees of Freedom Thumb x 4 Index Finger x 3 Middle Finger x 3 Ring Finger x 3 Little Finger x 3 Thumb x 4 Index Finger x 3 Middle Finger x 3 Ring Finger x 3 Little Finger x 3

Dimensions

217.3mm x 127.5mm x 72.1mm (The final shipped version may vary.)

Reported claim

Parameter label: Size

Unitree Dex5-1 Smart Adaptability, Instant Responsiveness - Unitree Robotics
Size 217.3mm x 127.5mm x 72.1mm (The final shipped version may vary.) 217.3mm x 127.5mm x 72.1mm (The final shipped version may vary.)

Feedback

Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature, Voltage and Current, imu Data

Reported claim

Parameter label: Perceptual feedback

Unitree Dex5-1 Smart Adaptability, Instant Responsiveness - Unitree Robotics
Perceptual feedback Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature, Voltage and Current, imu Data Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature, Voltage and Current, Sensor Pressure Value, Sensor Temperature Value, imu Data

Finger lateral range

±22°

Reported claim

Parameter label: Four-Finger Lateral Swing

Unitree Dex5-1 Smart Adaptability, Instant Responsiveness - Unitree Robotics
Four-Finger Lateral Swing ±22° ±22°

Fingertip force

10 N

Reported claim

Parameter label: Fingertip strength

Unitree Dex5-1 Smart Adaptability, Instant Responsiveness - Unitree Robotics
Fingertip strength 10N 10N

Fingertip repeatability

±1mm

Reported claim

Parameter label: Fingertip Repeat Positioning Accuracy

Unitree Dex5-1 Smart Adaptability, Instant Responsiveness - Unitree Robotics
Fingertip Repeat Positioning Accuracy ±1mm ±1mm

Joint angle range

Thumb Joint: Thumb Joint 0: -33.5°~39° Thumb Joint 1: 0°~100° Thumb Joint 2: 0°~110° Thumb Joint 3: 0°~92° Four-Finger Joints: Knuckles 0: -22°~22° Knuckles 1: 0°~90° Knuckles 2: 0°~95° Knuckles 3: 0°~81°(Coupling with finger joint 2)

Reported claim

Parameter label: Angle of Joint

Unitree Dex5-1 Smart Adaptability, Instant Responsiveness - Unitree Robotics
Angle of Joint Thumb Joint: Thumb Joint 0: -33.5°~39° Thumb Joint 1: 0°~100° Thumb Joint 2: 0°~110° Thumb Joint 3: 0°~92° Four-Finger Joints: Knuckles 0: -22°~22° Knuckles 1: 0°~90° Knuckles 2: 0°~95° Knuckles 3: 0°~81°(Coupling with finger joint 2) Thumb Joint: Thumb Joint 0: -33.5°~39° Thumb Joint 1: 0°~100° Thumb Joint 2: 0°~110° Thumb Joint 3: 0°~92° Four-Finger Joints: Knuckles 0: -22°~22° Knuckles 1: 0°~90° Knuckles 2: 0°~95° Knuckles 3: 0°~81°(Coupling with finger joint 2)

Mass

1,100 g

Reported claim

Parameter label: Weight

Unitree Dex5-1 Smart Adaptability, Instant Responsiveness - Unitree Robotics
Weight 1100g 1100g

Maximum current

58V@4A

Reported claim

Parameter label: Maximum Current

Unitree Dex5-1 Smart Adaptability, Instant Responsiveness - Unitree Robotics
Maximum Current 58V@4A 58V@4A

Minimum grip diameter

10 mm

Reported claim

Parameter label: Minimum grip diameter

Unitree Dex5-1 Smart Adaptability, Instant Responsiveness - Unitree Robotics
Minimum grip diameter 10mm 10mm

Operating temperature

-20℃ ~ 60℃

Reported claim

Parameter label: Working Temperature Range

Unitree Dex5-1 Smart Adaptability, Instant Responsiveness - Unitree Robotics
Working Temperature Range -20℃ ~ 60℃ -20℃ ~ 60℃

Operating voltage

24V~60V

Reported claim

Parameter label: Working Voltage

Unitree Dex5-1 Smart Adaptability, Instant Responsiveness - Unitree Robotics
Working Voltage 24V~60V 24V~60V

Payload palm down

The Maximum Weight is 3.5kg

Reported claim

Parameter label: Load Conditions ( Palm Facing Down At Room Temperature, Grasping A 5cm Round Hard Object)

Unitree Dex5-1 Smart Adaptability, Instant Responsiveness - Unitree Robotics
Load Conditions ( Palm Facing Down At Room Temperature, Grasping A 5cm Round Hard Object) The Maximum Weight is 3.5kg The Maximum Weight is 3.5kg

Payload palm left

The Maximum Weight is 4.5kg

Reported claim

Parameter label: Load Condition (Palm Facing Left At Room Temperature, Grasping A 5cm Round Hard Object)

Unitree Dex5-1 Smart Adaptability, Instant Responsiveness - Unitree Robotics
Load Condition (Palm Facing Left At Room Temperature, Grasping A 5cm Round Hard Object) The Maximum Weight is 4.5kg The Maximum Weight is 4.5kg

Quiescent current

58V@0.2A

Reported claim

Parameter label: Static Current

Unitree Dex5-1 Smart Adaptability, Instant Responsiveness - Unitree Robotics
Static Current 58V@0.2A 58V@0.2A

Transmission mechanism

12 self-developed micro force-controlled composite transmission joints (enables robot to achieve tactile proprioception) 4 micro force-controlled joint gear transmission

Reported claim

Parameter label: Transmission Mechanism

Unitree Dex5-1 Smart Adaptability, Instant Responsiveness - Unitree Robotics
Transmission Mechanism 12 self-developed micro force-controlled composite transmission joints (enables robot to achieve tactile proprioception) 4 micro force-controlled joint gear transmission 12 self-developed micro force-controlled composite transmission joints (enables robot to achieve tactile proprioception) 4 micro force-controlled joint gear transmission

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